Picard | Pike
They do. Although I don't think we'd have it any other way. They make command track worthwhile.
I had a discussion with a friend here of whether or not I'd have gone into the military here if I was originally from this world. There are similarities with Starfleet, to be certain, but key differences as well. You are correct when it is a matter of taking up arms in defense versus making a pre-emptive strike.